SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks

Ever more robust, accurate and detailed mapping using visual sensing has proven to be an enabling factor for mobile robots across a wide variety of applications. For the next level of robot intelligence and intuitive user interaction, maps need extend beyond geometry and appearence - they need to contain semantics. We address this challenge by combining Convolutional Neural Networks (CNNs) and a state of the art dense Simultaneous Localisation and Mapping (SLAM) system, ElasticFusion, which provides long-term dense correspondence between frames of indoor RGB-D video even during loopy scanning trajectories. These correspondences allow the CNN's semantic predictions from multiple view points to be probabilistically fused into a map. This not only produces a useful semantic 3D map, but we also show on the NYUv2 dataset that fusing multiple predictions leads to an improvement even in the 2D semantic labelling over baseline single frame predictions. We also show that for a smaller reconstruction dataset with larger variation in prediction viewpoint, the improvement over single frame segmentation increases. Our system is efficient enough to allow real-time interactive use at frame-rates of approximately 25Hz

Probably Unknown: Deep Inverse Sensor Modelling In Radar

Radar presents a promising alternative to lidar and vision in autonomous vehicle applications, able to detect objects at long range under a variety of weather conditions. However, distinguishing between occupied and free space from raw radar power returns is challenging due to complex interactions between sensor noise and occlusion. To counter this we propose to learn an Inverse Sensor Model (ISM) converting a raw radar scan to a grid map of occupancy probabilities using a deep neural network. Our network is self-supervised using partial occupancy labels generated by lidar, allowing a robot to learn about world occupancy from past experience without human supervision. We evaluate our approach on five hours of data recorded in a dynamic urban environment. By accounting for the scene context of each grid cell our model is able to successfully segment the world into occupied and free space, outperforming standard CFAR filtering approaches. Additionally by incorporating heteroscedastic uncertainty into our model formulation, we are able to quantify the variance in the uncertainty throughout the sensor observation. Through this mechanism we are able to successfully identify regions of space that are likely to be occluded.Comment: 6 full pages, 1 page of reference

Challenges and opportunities of context-aware information access

Ubiquitous computing environments embedding a wide range of pervasive computing technologies provide a challenging and exciting new domain for information access. Individuals working in these environments are increasingly permanently connected to rich information resources. An appealing opportunity of these environments is the potential to deliver useful information to individuals either from their previous information experiences or external sources. This information should enrich their life experiences or make them more effective in their endeavours. Information access in ubiquitous computing environments can be made "context-aware" by exploiting the wide range context data available describing the environment, the searcher and the information itself. Realizing such a vision of reliable, timely and appropriate identification and delivery of information in this way poses numerous challenges. A central theme in achieving context-aware information access is the combination of information retrieval with multiple dimensions of available context data. Potential context data sources, include the user's current task, inputs from environmental and biometric sensors, associated with the user's current context, previous contexts, and document context, which can be exploited using a variety of technologies to create new and exciting possibilities for information access